SOLUO NUMRICA DE EQUAES

DIFERENCIAIS
(MTODO DE RUNGE - KUTTA DE 4.ORDEM)
Prof. Lenois Mariotto
Programa de Ps-Graduao
em Engenharia Eltrica
DESP-CT-UFSM

MTODO DE RUNGE - KUTTA DE 4.ORDEM

Desenvolvido por C. Runge e M.W. Kutta (1900)

Caractersticas do Mtodo
a) Calcula as derivadas no incio, meio e fim de
cada intervalo (Aperfeioamento do mtodo de
Euler)
b) de fcil implementao
c) Tem muito boa preciso (soluo numrica
muito prxima da exata)
d) No entanto, necessita calcular a funo em
todas as etapas de cada passo de integrao
e) Processamento mais lento que o Mtodo
Trapezoidal Iterativo

Algoritmo do mtodo de Runge-Kutta de 4. Ordem

para uma equao diferencial
dy
= f ( x , y)
dx
Com condies iniciais : f ( x 0 , y 0 )

Seja y& =

K1 = f ( x 0 , y 0 ) h
h
K

K 2 = f x 0 + , y 0 + 1 h
2
2

h
K

K 3 = f x 0 + , y 0 + 2 h
2
2

K 4 = f ( x 0 + h , y 0 + K 3 )h
y ( v +1) = y ( v ) +

1
(K1 + 2K 2 + 2K 3 + K 4 )
6

Exemplo : Runge Kutta de 4 ordem

dy
Seja y& =
= 2 x y = f ( x , y); com y( x 0 ) = y(o) = 1
dx
cuja soluo explicita y = 3e x 2 x + 2

h= 0,10

h=0,01

0,00

-1,00000

0,00

-1,00000

0,10

-0,91451

0,01

-0,99015

0,20

-0,85619

0,02

-0,98060

0,30

-0,82245

0,03

-0,97134

0,40

-0,81096

0,04

-0,96237

0,50

-0,81959

0,05

-0,95369

dy
= 2 x y = f ( x , y)
dx
x 0 = 0,0
y& =

h = 0,01
K1 = f ( x 0 , y 0 )h = f (0,1,0)h = [ 2(0) (1)]0,01 = 0,01
h
K
0,01
0,01

K 2 = f x 0 + , y 0 + 1 h = f 0,00 +
, 1,0 +
0,01
2
2
2
2

K 2 = f (0,005, 0,995)0,01 = [2(0,005) (0,995)]0,01 = 0,00985

h
K
0,01
0,00985

K 3 = f x 0 + , y 0 + 2 h = f 0,00 +
, 1,0 +
0,01
2
2
2
2

K 3 = f (0,005, 0,995075)0,01 = [2(0,005) (0,995075)]0,01 = 0,009851

K 4 = f ( x 0 + h , y 0 + K 3 )h = f (0,01, 1,00 + 0,009851)0,01
K 4 == f (0,01, 0,990149)0,01 = [2(0,01) (0,990149)]0,01 = 0,00970
1
(K1 + 2K 2 + 2K 3 + K 4 ) = 1,0 + 1 (0,01 + 2(0,00985) + 2(0,009851) + 0,00970)
6
6
= 1,0 + 0,009850 = 0,99015

y (1) = y ( 0 ) +
y (1)

dy
= 2 x y = f ( x , y)
dx
x 0 = 0,0
y& =

h = 0,10
K 1 = f ( x 0 , y 0 )h = f (0,1,0)h = [2(0) ( 1)]0,1 = 0,10
K
0,1
0,1
h

, 1,0 +
K 2 = f x 0 + , y 0 + 1 h = f 0,00 +
0,1 =
2
2
2
2

K 2 = f (0,05, 0,95)0,1 = [ 2(0,05) (0,95)]0,1 = 0,085

K
h
0,1
0,085

K 3 = f x 0 + , y 0 + 2 h = f 0,00 +
, 1,0 +
0,1
2
2
2
2

K 3 = f (0,05, 0,9575)0,01 = [2(0,05) (0,9575)]0,1 = 0,08575

K 4 = f ( x 0 + h , y 0 + K 3 )h = f (0,10, 1,00 + 0,08575)0,1
K 4 == f (0,10, 0,91425)0,01 = [2(0,10) (0,91425)]0,1 = 0,071425
1
(K 1 + 2K 2 + 2K 3 + K 4 ) = 1,0 + 1 (0,10 + 2(0,085) + 2(0,08575) + 0,071425)
6
6
= 1,0 + 0,085488 = 0,91451

y (1) = y ( 0 ) +
y (1)

Aplicao do Mtodo em sistemas de equaes diferenciais

K1 = f ( t 0 , y 0 , z 0 ) h

dy
= f ( t , y, z )
dt
dz
= g ( t , y, z )
dt

1
(K1 + 2K 2 + 2K 3 + K 4 )
6
1
(0)
= z + (L1 + 2L 2 + 2L 3 + L 4 )
6

y (1) = y ( 0 ) +
z (1)

L1 = g( t 0 , y0 , z 0 )h
h
K
L

K 2 = f t 0 + , y 0 + 1 , z 0 + 1 h
2
2
2

h
K
L

L 2 = g t 0 + , y 0 + 1 , z 0 + 1 h
2
2
2

h
K
L

K 3 = f t 0 + , y0 + 2 , z0 + 2 h
2
2
2

h
K
L

L 3 = g t 0 + , y 0 + 2 , z 0 + 2 h
2
2
2

K 4 = f ( t 0 + h , y 0 + K 3 , z 0 + L3 ) h
L 4 = f ( t 0 + h, y0 + K 3 , z 0 + L3 ) h

Sistema de equaes :
~ ) = d =
~ = ( t ) 2f
f
(
t
,

Exemplo 1 : mquina barra inf inita

dt
~ f
( J apresentado no Mtodo Trapezoidal)
d
~
g( t , , ) =
= s [Pm Pem sen ()]
dt
H
P (pr falta) = 2,33333sen
e

Pe (durante falta ) = 0,58844 sen

Pm = 1,00 p.u.
H = 3,75 p.u.
0 = 25,38 = 0,44296 rad

Condies em t = 0 +
0+ = 25,38 o = 0,44296 rad
( 0 + ) = 2f

~ ) = d
~ = 2f
f ( t 0+ , 0+ ,
=
0+
0+
0+
dt ( 0 + )
~
f
d
~
g( t 0+ , 0+ , 0+ ) =
= s Pm Pem ( durante ) sen ( 0 + )
dt ( 0 + )
H

d
~ = 2f = 2f 2f = 0,00
=
0+
(0+ )
dt ( 0 + )
~
d
.60
=
1,00 0,58844sen (25,38 o )
dt ( 0 + ) 3,75

para cada passo de integrao 4 etapas 4 constantes (K1 , K 2 , K 3 , K 4 ); (L1 , L 2 , L 3 , L 4 )

1. passo de integrao : posio final : t = t 0+ + 0,05 = 0,05 s
~ ) = d
~ = 2f
=
f ( t 0+ , 0+ ,
0+
0+
0+
dt ( 0 + )
~
f
d
~
= s Pm Pem ( durante)sen ( 0 + )
g ( t 0 + , 0 + , 0 + ) =
dt ( 0 + )
H

~ )h =
~ = (( t ) 2f )0,05 = 0,00 rad
K1 = ( t 0 + , 0 + ,
0+
0+
0+
~ )h = .60 [1,00 0,58844sen (0,44296)]0,05 = 1,87939 rad / s
L1 = g ( t 0+ , 0+ ,
0+
3,75
h
K ~
L1
L1

~
K 2 = f t 0 + + , 0+ + 1 ,
h =
0,05 = 0,04698 rad
0+ +
0+ +
2
2
2
2

.60
K ~
L1
K
h

1,00 0,58844sen (0,44296 + 1 ) 0,05 = 1,87939 rad / s

L 2 = g t 0 + + , 0 + + 1 ,
h =
0+ +

3,75
2
2
2
2

h
K ~
L2
L2

~
K 3 = f t 0+ + , 0 + + 2 ,
0,05 = 0,04698 rad
h =
0+ +
0+ +
2
2
2
2

.60
h
K ~
L2
K

L 3 = g t 0 + + , 0 + + 2 ,
1,00 0,58844sen (0,44296 + 2 ) 0,05 = 1,84818 rad / s
h =
0+ +

2
2
2
3,75
2

~ + L )h = (
~ + L )0,05 = 0,09241rad
K 4 = f ( t 0+ + h , 0+ + K 3 ,
0+
3
0+
3
~ + L )h = .60 [1,00 0,58844sen (0,44296 + K )]0,05 = 1,81734 rad / s
L 4 = f ( t 0+ + h, 0+ + K 3 ,
0+
3
3
3,75

1
(K1 + 2K 2 + 2K 3 + K 4 )
6
1
+ (L1 + 2L 2 + 2L 3 + L 4 )
6

( v+1) = ( v ) +
~ ( v +1) =
~ ( v)

1
[(K 1 + 2K 2 + 2K 3 + K 4 )]
6
1
( 0,05) = 0,44296 + [0,00 + 2(0,04698) + 2(0,04698) + 0,09241] = 0,48968 rad = 28,06 o
6
1
( 0,05) = ( 0 + ) + [L1 + 2L 2 + 2L 3 + L 4 ]
6
~ ( 0,05) = 0,00 + 1 [1,87939 + 2(1,87939) + 2(1,84818) + 1,81734] = 1,85865 rad / s

( 0,05) = ( 0 + ) +

2. passo de integrao posio final : t = 0,05 + 0,05 = 0,10 s :

(0,05) ) (0,05) = 0,09293 rad
K1 = f ( t, , )h =
L1 = g( t , , )h =

.60
[1,00 0,58844sen (0,48968)]0,05 = 1,81768 rad / s
3,75

h
K ~
L1
L1

~
K 2 = f t ( 0,05) + , ( 0,05) + 1 ,
h =
0,05 = 0,13837 rad
( 0 , 05) +
( 0, 05) +
2
2
2
2

K
L
K
h
.60

( 0,05) + 1 h =
1,00 0,58844sen (0,48968 + 1 ) 0,05 = 1,75781 rad / s
L 2 = g t ( 0,05) + , ( 0,05) + 1 ,

2
3,75
2
2
2

h
K ~
L2
L2

~
K 3 = f t ( 0,05) + , ( 0,05) + 2 ,
h =
0,05 = 0,13688 rad
( 0 , 05) +
( 0 , 05) +
2
2
2
2

h
K ~
L2
K
.60

L 3 = g t ( 0, 05) + , ( 0,05) + 2 ,
1,00 0,58844sen (0,48968 + 2 ) 0,05 = 1,72912 rad / s
h =
( 0 , 05) +

2
2
2
3,75
2

~
~
K 4 = f ( t ( 0,05) + h, ( 0,05) + K 3 ,
( 0 , 05) + L 3 ) h = (( 0, 05 ) + L 3 )0,05 = 0,17939rad
.60
~
L 4 = f ( t ( 0,05) + h, ( 0,05) + K 3 ,
[1,00 0,58844sen (0,48968 + K 3 )]0,05 = 1,64610 rad / s
( 0 , 05) + L 3 ) h =
3,75

1
[(K1 + 2K 2 + 2K 3 + K 4 )]
6
1
( 0,10) = 0,48968 + [0,09293 + 2(0,13837) + 2(0,13688) + 0,17939] = 0,62682 rad = 35,91o
6
~ ( 0,10 ) =
~ ( 0,05) + 1 [L + 2L + 2L + L ]

1
2
3
4
6
~ ( 0,10 ) = 1,85865 + 1 [1,81768 + 2(1,75781) + 2(1,72912) + 1,64610] = 3,59826 rad / s

6
( 0,10) = ( 0, 05) +

Exemplo 2
(J apresentado no Mtodo Trapezoidal)
Pe (pr falta ) = 4

Pe (durante falta ) = 2
Pm1 = 1,00 p.u.
H1 = 2,70 p.u.
H2 =

= 0,63662()

T
(s)
0,00

(t)
(rad)
0,78540

0 = = 45,00o = 0,78540 rad

4
0,05 0,82863
2
t
( t ) = cos
0,10 0,95356

2 4
M

( t ) = cos(6,66667 )t
2 4
d ~
= = ( t ) 2..60 = ( t ) = 5,23599 sen (6,66667 )t
dt

(t)
(graus)

d/dt
(rad/s)

45,00

0,00

47,48

1,713

54,63

3,238

para cada passo de integrao 4 etapas 4 constantes (K1 , K 2 , K 3 , K 4 ); ( L1 , L 2 , L 3 , L 4 )

1. passo de integrao : t = t 0+ + 0,05 = 0,05 s
~ )h = (( t ) 2f )0,05 = 0,00 rad
K1 = f ( t, , ) h = (
0+
0+
L1 = g( t , , )h =

.60
[1,00 0,63662(0,78540)]0,05 = 1,74532 rad / s
2,70

h
K ~
L1
L1

~
K 2 = f t 0+ + , 0+ + 1 ,
h =
0,05 = 0,04363 rad
0+ +
0+ +
2
2
2
2

.60
h
K ~
L1
K1

+
L 2 = g t 0 + + , 0 + + 1 ,
1
,
00
0
,
63662
(
0
,
78540
) 0,05 = 1,74532 rad / s
h =
0+ +
2
2
2
2,70
2

K ~
L2
L2
h

~
K 3 = f t 0+ + , 0+ + 2 ,
0,05 = 0,04363 rad
h =
0+ +
0+ +
2
2
2
2

.60
K
h
K ~
L2

1,00 0,63662(0,78540 + 2 )) 0,05 = 1,69685 rad / s

L 3 = g t 0 + + , 0 + + 2 ,
h =
0+ +

2
2
2,70
2
2

~ + L )h = (
~ + L )0,05 = 0,08484 rad
K 4 = f ( t 0+ + h, 0+ + K 3 ,
0+
3
0+
3
~ + L )h = .60 [1,00 0,63662(0,78540 + K )]0,05 = 1,64837 rad / s
L 4 = f ( t 0+ + h , 0+ + K 3 ,
0+
3
3
2,70
1
( 0, 05) = ( 0 + ) + [(K1 + 2K 2 + 2K 3 + K 4 )]
6
1
( 0, 05) = 0,78540 + [0,00 + 2(0,04363) + 2(0,04363) + 0,08484] = 0,82863 rad = 47,48o
6
1
( 0, 05) = ( 0 + ) + [L1 + 2L 2 + 2L 3 + L 4 ]
6
~ ( 0, 05) = 0,00 + 1 [1,74532 + 2(1,74532) + 2(1,69685) + 1,64837] = 1,71301 rad / s

2. passo de integrao : t = 0,05 + 0,05 = 0,10 s

~
K 1 = f ( t , , )h =
( 0 , 05 ) (0,05) = (( t ( 0 , 05 ) ) 2 f )0,05 = 0,08565 rad
L1 = g( t , , )h =

.60
[1,00 0,63662(0,82863)]0,05 = 1,64926 rad / s
2,70

L1
~
K2 =
0,05 = 0,12688 rad
( 0 , 05 ) +
2

K
.60
L2 =
1,00 0,63662(0,82863 + 1 ) 0,05 = 1,55409 rad / s

2
2,70
L2
~
K3 =
0,05 = 0,12450 rad
( 0 , 05 ) +
2

K
.60
L3 =
1,00 0,63662(0,82863 + 2 )) 0,05 = 1,50828 rad / s

2,70
2
~
K 4 = (
( 0 , 05 ) + L 3 )0,05 = 0,16106 rad
.60
[1,00 0,63662(0,82863 + K 3 )]0,05 = 1,37259 rad / s
2,70
1
( 0, 05) = ( 0 + ) + [(K 1 + 2K 2 + 2K 3 + K 4 )]
6
1
( 0, 05) = 0,82863 + [0,08565 + 2(0,12688) + 2(0,12450) + 0,16106] = 0,95354 rad = 54,63o
6
1
( 0, 05) = ( 0 + ) + [L1 + 2L 2 + 2L 3 + L 4 ]
6
~ ( 0, 05) = 1,71301 + 1 [1,64926 + 2(1,55409) + 2(1,50828) + 1,37259] = 3,237 rad / s

6
L4 =

Aplicao do Mtodo de Runge-Kutta de 4. ordem em SEPs a n - mquinas

K ( k ,i ) e L ( k ,i ) constantes das etapas
k = 1, 2, 3 4
i = 1, 2, ..........., n (geradores)
Primeira etapa :
k =1
i = 1, 2, ..........., n
aux ( i ) = i
~
~

aux ( i ) = i
~
K = (
(1,i )

aux ( i )

)h

Pei (aux ( i ) ) = E Yii cos ii + E i E jYij cos ij (aux (i ) aux ( j) )

2
i

L ( 1 ,i ) =

j=1
ji

.60
(Pmi Pei (aux (i) ) Di~ aux (i) )h
Hi

Segunda etapa :
k=2
i = 1, 2, ..........., n
~
~

aux ( i ) = i + L( k 1, i ) / 2
~
)h
K
= (
( 2 ,i )

aux ( i )

Terceira etapa :
k=3
i = 1, 2, ..........., n
~
~ + L(k 1, i) / 2

aux ( i )
i
~
)h
K = (
( 3, i )

aux (i ) = i + K (k 1, i) / 2

L ( 2 ,i )

aux ( i )

aux ( i ) = i + K (k 1, i) / 2

.60
~
.60
~
L
=
P

P
(

mi
ei
aux
(
i
)
i
aux ( i ) h
(Pmi Pei (aux(i) ) Diaux (i) )h (3,i ) Hi
=
Hi

Quarta etapa :
k=4
i = 1, 2, ..........., n
~
~ + L(k 1, i)

=
aux ( i )

~
K ( 4,i ) = (
aux ( i ) )h

aux (i ) = i + K (k 1, i)
L ( 4 ,i ) =

.60
(Pmi Pei (aux (i) ) Di~ aux (i) )h
Hi

Nova posio i( +1 ) e i( +1)

~ ( +1)

1
K (1,i ) + 2K ( 2,i ) + 2K ( 3,i ) + K ( 4,i )
6
~ ( ) + 1 L + 2L + 2L + L
=
i
(1,i )
( 2 ,i )
( 3,i )
( 4 ,i )
6

i( +1) = i( ) +

Exemplo: Anderson NG=3

Barra de Reatncia Constante

Gerao Transitria De Inrcia
NG
Xd [p.u.]
H [p.u.s]

Tenso
Interna
E [p.u.]

ngulo
Interno
[graus]

Potncia
Mecnica
[p.u.]

0,0608

23,64

1,05664

2,270

0,71571

0,1198

6,40

1,05020

19,732

1,62982

0,1813

3,01

1,01697

13,162

0,84956

Equaes Durante-falta

YBUS DF ( 3 x 3 )

0,65661 - j3,81583 0,00000 + j0.00000 0,07010 + j0,63060

= 0,00000 + j0,00000 0,00000 - j5,48546 0,00000 + j0,00000
0,07010 + j0,63060 0,00000 + j0,00000 0,17400 - j2,79590

Equaes durante falta

Pe1 = E 12 Y11 cos 11 + E 1 E 2 Y12 cos[12 (1 2 )] + E 1 E 3 Y13 cos[13 (1 3 )]

Pe1 = (1,05664) 2 (0,65661) + 0,00 + (1,05664)(1,01697)(0,63448) cos 83,65 o (1 3 )

Pe1 = 0,73310 + 0,68179 cos 83,65 o (1 3 )

Pe 2 = E 22 Y22 cos 22 + E 2 E 1 Y21 cos[ 21 ( 2 1 )] + E 2 E 3 Y13 cos[ 23 ( 2 3 )]

Pe 2 = 0,00

Pe 3 = E 32 Y33 cos 33 + E 3 E 1 Y21 cos[ 31 ( 3 1 )] + E 3 E 2 Y32 cos[ 32 ( 3 2 )]

Pe 3 = (1,01697) 2 (0,174) + 0,00 + (1,01697)(1,05664)(0,63448) cos 83,65 o ( 3 1 ) + 0,00

Pe 3 = 0,17996 + 0,68179 cos 83,65 o ( 3 1 )

Equaes Ps-falta
YBUS PF(3 x 3)

1,13817 - j2,29603 0,12891 + j0,70643 0,18227 + j1,06384

= 0,12891 + j0,70643 0,37439 - j2,01503 0,19207 + j1,20673
0,18227 + j1,06384 0,19207 + j1,20673 0,26907 - j2,35160

Equaes ps falta

Pe1 = E 12 Y11 cos 11 + E 1 E 2 Y12 cos[12 ( 1 2 )] + E 1 E 3 Y13 cos[ 13 ( 1 3 )]

Pe1 = (1,05664) 2 (1,13817 ) + (1,05664)(1,05020)(0,71810 cos 79,66 o (1 2 )

+ (1,05664)(1,01697 )(1,07934) cos 80,28 o ( 1 3 )

Pe1 = 1,27075 + 0,79686 cos cos 79,66 o (1 2 ) + 1,15983 cos 80,28 o ( 1 3 )

Pe 2 = E 22 Y22 cos 22 + E 2 E1Y21 cos[ 21 ( 2 1 )] + E 2 E 3 Y23 cos[ 23 ( 2 3 )]

Pe 2 = (1,05020) 2 (0,37439) + (1,05020)(1,05664)(0,71810) cos 79,66o ( 2 1 )

+ (1,05020)(1,01697)(1,22192) cos 80,96o ( 2 3 )

Pe 2 = 0,41292 + 0,79686 cos 79,66o ( 2 1 ) + 1,30504 cos 80,96o ( 2 3 )

Pe 3 = E 32 Y33 cos 33 + E 3 E 1 Y31 cos[ 31 ( 3 1 )] + E 3 E 2 Y32 cos[ 32 ( 3 2 )]

Pe 3 = (1,01697) 2 (0,26907) + (1,01697)(1,05664)(1,07934) cos 80,28 o ( 3 1 )

+ (1,01697)(1,05020)(1,22192) cos 80,96 o ( 3 2 )

Pe 3 = 0,27828 + 1,15983 cos 80,28 o ( 3 1 ) + 1,30504 cos 80,96 o ( 3 2 )

Primeiro passo de integrao

t = 0+

Resumo : Equaes durante falta

h = 0,05 s
t1 = 0 + + 0,05 s

Pe1 = 0,73310 + 0,68179 cos 83,65o (1 3 )

D1 = D 2 = D 3 = 0,00 p.u. / rad

Pe 2 = 0,00

Primeira etapa :

Pe 3 = 0,17996 + 0,68179 cos 83,65o (3 1 )

k =1
i = 1, 2, ..........., 3
aux (1) = 1( 0+ ) = 2,27 o = 0,03962 rad

aux ( 2 ) = 2 (0 + ) = 19,732o = 0,34439 rad

aux (3) = 3( 0+ ) = 13,162o = 0,22972 rad
~
~

aux (1) = 1( 0 + ) = 0,00 rad / s

~
~

=
= 0,00 rad / s
aux ( 2 )

2 ( 0+ )

~
~

aux ( 3) = 3( 0 + ) = 0,00 rad / s

~
)(0,05) = 0,00 rad
K = (
(1,1)

aux (1)

(1, 3 )

aux ( 3)

~
K (1, 2 ) = (
aux ( 2 ) )(0,05) = 0,00 rad
~
)(0,05) = 0,00 rad
K
= (

Pe1 ( aux (1) , aux ( 2 ) , aux ( 2) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,67911 p.u.
Pe 2 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,00

Pe 3 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,17996 + 0,68179 cos 1,45997 ( aux ( 3) aux (1) ) = 0,38205 p.u.
L ( 1 ,1 ) =

.60
(Pm1 Pe1 (aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,71571 0,67911)(0,05) = 0,01459 rad / s
H1
23,64

L (1 , 2 ) =

.60
(Pm 2 Pe 2 (aux (1) , aux ( 2) , aux ( 2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L (1 , 3 ) =

.60
(Pm3 Pe3 (aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,84956 0,38205)(0,05) =1,46385 rad / s
H3
3,01

Segunda etapa :
k=2
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 + ) + L(1,1) / 2 = 0,00 + 0,01459 / 2 = 0,00730 rad / s

~
~

=
+ L(1,2) / 2 = 0,00 + 2,40011 / 2 = 1,20006 rad / s
aux ( 2 )

2(0+ )

~
~

aux ( 3) = 3( 0 + ) + L(1,3) / 2 = 0,00 + 1,46385 / 2 = 0,73193 rad / s

aux (1) )h = (0,00730)(0,05) = 0,00037 rad
K ( 2,1) = (

aux ( 2) )h = (1,20006)(0,05) = 0,06000 rad

K ( 2, 2 ) = (

aux ( 3) )h = (0,73193)(0,05) = 0,03660 rad

K ( 2,3) = (
aux (1) = 1( 0+ ) + K (1,1) / 2 = 0,03962
aux ( 2) = 2( 0+ ) + K (1,2) / 2 = 0,34439
aux ( 3) = 3( 0+ ) + K (1,3) / 2 = 0,22972

Pe1 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,67911p.u.
Pe 2 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,00

Pe3 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,17996 + 0,68179 cos 1,45997 ( aux ( 3) aux (1) ) = 0,38205 p.u.
L ( 2 ,1 ) =

.60
(Pm1 Pe1 ( aux(1) , aux( 2) , aux( 2) ))h = .60 (0,71571 0,67911)(0,05) = 0,01459 rad / s
23,64
H1

L (2,2) =

.60
(Pm 2 Pe 2 ( aux (1) , aux(2) , aux( 2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 2 ,3) =

.60
(Pm3 Pe3 ( aux (1) , aux( 2) , aux( 2) ))h = .60 (0,84956 0,38205)(0,05) =1,46385 rad / s
3,01
H3

Terceira etapa :
k=3
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 + ) + L( 2,1) / 2 = 0,00 + 0,01459 / 2 = 0,00730 rad / s

~
~

=
+ L(2,2) / 2 = 0,00 + 2,40011 / 2 = 1,20006 rad / s
aux ( 2 )

2(0+)

~
~

aux ( 3) = 3( 0 + ) + L( 2,3) / 2 = 0,00 + 1,46385 / 2 = 0,73193 rad / s

aux (1) )h = (0,00730)(0,05) = 0,00037 rad
K (3,1) = (

aux ( 2 ) )h = (1,20006)(0,05) = 0,06000 rad

K (3, 2 ) = (

aux (3) )h = (0,73193)(0,05) = 0,03660 rad

K (3,3) = (
aux (1) = 1( 0+ ) + K (2,1) / 2 = 0,03981
aux ( 2 ) = 2( 0+ ) + K (2,2) / 2 = 0,37439
aux (3) = 3( 0+ ) + K (2,3) / 2 = 0,24802

Pe1 ( aux (1) , aux ( 2 ) , aux ( 2 ) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,66681 p.u.
Pe 2 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,00

Pe3 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,17996 + 0,68179 cos 1,45997 ( aux ( 3) aux (1) ) = 0,39380 p.u.
L ( 3 ,1) =

.60
(Pm1 Pe1 (aux (1) , aux (2) , aux ( 2) ))h = .60 (0,71571 0,66681)(0,05) = 0,01950 rad / s
H1
23,64

L ( 3, 2 ) =

.60
(Pm 2 Pe 2 (aux (1) , aux (2) , aux (2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 3, 3 ) =

.60
(Pm3 Pe3 (aux (1) , aux ( 2) , aux (2) ))h = .60 (0,84956 0,39380)(0,05) = 1,42706 rad / s
H3
3,01

Quarta etapa :
k=4
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 + ) + L(3,1) = 0,01950 rad / s

~
~

=
+ L(3,2) = 2,40011rad / s
aux ( 2 )

2(0+)

~
~

aux ( 3) = 3( 0 + ) + L(3,3) = 1,42706 rad / s

aux (1) )h = (0,01950)(0,05) = 0,00098 rad

K ( 4,1) = (

aux ( 2) )h = (2,40011)(0,05) = 0,012001rad

K ( 4, 2) = (

aux (3) )h = (1,42706)(0,05) = 0,07135 rad

K ( 4,3) = (
aux (1) = 1( 0+ ) + K (3,1) = 0,03966 rad
aux ( 2) = 2( 0+ ) + K (3,2) = 0,40439 rad
aux ( 3) = 3( 0+ ) + K (3,3) = 0,26632 rad

Pe1 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,65430 p.u.
Pe 2 ( aux (1) , aux ( 2 ) , aux ( 2) ) = 0,00

Pe3 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,17996 + 0,68179 cos 1,45997 ( aux (3) aux (1) ) = 0,40571p.u.
L ( 4 ,1) =

.60
(Pm1 Pe1 ( aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,71571 0,65430)(0,05) = 0,02448 rad / s
23,64
H1

L ( 4, 2) =

.60
(Pm 2 Pe 2 ( aux (1) , aux (2) , aux (2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 4, 3) =

.60
(Pm3 Pe3 ( aux (1) , aux (2) , aux (2) ))h = .60 (0,84956 0,40571)(0,05) = 1,38976 rad / s
3,01
H3

Nova posio (i +1 ) e i( +1)

1
K (1,1) + 2K ( 2,1) + 2K ( 3,1) + K ( 4,1)
6
1
1( 0,05) = 0,03962 + [0,00 + 2(0,00037 ) + 2(0,00037 ) + 0,00098] = 0,04003 rad = 2,293o
6
1
(20,05) = (20 + ) + K (1, 2 ) + 2K ( 2, 2 ) + 2K ( 3, 2) + K ( 4, 2 )
6
1
(20,05) = 0,34439 + [0,00 + 2(0,06) + 2(0,06 )+,12001] = 0,40439 rad = 23,170o
6
1
3( 0,05) = 3( 0 + ) + K (1,3) + 2K ( 2,3) + 2K ( 3,3) + K ( 4,3)
6
1
3( 0,05) = 0,22972 + [0,00 + 2(0,03660) + 2(0,03660) + 0,07135] = 0,26601 rad = 15,241o
6
~ ( 0,05) =
~ ( 0 + ) + 1 L + 2L

1
1
(1,1)
( 2 ,1) + 2 L ( 3,1) + L ( 4 ,1)
6
~ ( 0,05) = 0,00 + 1 [0,01459 + 2(0,01459) + 2(0,01950) + 0,02448] = 0,01787 rad / s

1
6
~ ( 0,05) =
~ (0+) + 1 L

2
2
(1, 2 ) + 2 L ( 2 , 2 ) + 2 L ( 3, 2 ) + L ( 4 , 2 )
6
~ ( 0,05) = 0,00 + 1 [2,40011 + 2(2,40011) + 2(2,40011) + 2,40011] = 2,40011 rad / s

2
6
~ ( 0,05) =
~ ( 0 + ) + 1 L + 2L

3
3
(1, 3 )
( 2 , 3 ) + 2 L ( 3, 3) + L ( 4 , 3)
6
~ ( 0,05) = 0,00 + 1 [1,46385 + 2(1,46385) + 2(1,42706) + 1,38976] = 1,43924 rad / s

3
6
1( 0,05) = 1( 0 + ) +

Segundo passo de integrao

t 2 = 0,05 + 0,05 = 0,10 s
D1 = D 2 = D 3 = 0,00 p.u. / rad
Primeira etapa :
k =1
i = 1, 2, ..........., 3
aux (1) = 1( 0, 05) = 2,293o = 0,04003 rad
aux ( 2) = 2 ( 0,05) = 23,170o = 0,40439 rad
aux ( 3) = 3( 0, 05) = 15,241o = 0,26601 rad
~
~

aux (1) = 1( 0 , 05 ) = 0,01787 rad / s

~
~

=
= 2,40011rad / s
aux ( 2 )

2 ( 0 , 05 )

~
~

aux ( 3 ) = 3 ( 0 , 05 ) = 1, 43924 rad / s

~
)(0,05) = 0,00089 rad
K = (
(1,1)

K (1, 2)
K (1,3)

aux (1)

~
= (
aux ( 2 ) )(0,05) = 0,12000 rad
~
)(0,05) = 0,07196 rad
= (
aux ( 3)

Pe1 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux ( 3) ) = 0,65476 p.u.
Pe 2 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,00

Pe3 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,17996 + 0,68179 cos 1,45997 ( aux ( 3) aux (1) ) = 0,40527 p.u.
L ( 1, 1 ) =

.60
(Pm1 Pe1 ( aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,71571 0,65476)(0,05) = 0,02430 rad / s
H1
23,64

L ( 1, 2 ) =

.60
(Pm 2 Pe 2 (aux (1) , aux ( 2) , aux ( 2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 1, 3 ) =

.60
(Pm3 Pe3 ( aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,84956 0,40527)(0,05) =1,39114 rad / s
3,01
H3

Segunda etapa :
k=2
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 , 05) + L(1,1) / 2 = 0,01787 + 0,02430 / 2 = 0,03002 rad / s

~
~

=
+ L(1,2) / 2 = 2,40011 + 2,40011/ 2 = 3,60016 rad / s
aux ( 2 )

2 ( 0, 05)

~
~

aux ( 3) = 3( 0, 05) + L(1,3) / 2 = 1,43924 + 1,39114 / 2 = 2,13481rad / s

aux (1) )h = (0,03002)(0,05) = 0,00150 rad
K ( 2,1) = (
aux ( 2) )h = (3,60016)(0,05) = 0,18001rad
K ( 2, 2 ) = (

aux ( 3) )h = (2,13481)(0,05) = 0,10674 rad

K ( 2,3) = (
aux (1) = 1( 0,05) + K (1,1) / 2 = 0,04048
aux ( 2) = 2( 0,05) + K (1,2) / 2 = 0,46439
aux ( 3) = 3( 0,05) + K (1,3) / 2 = 0,30199

Pe1 ( aux (1) , aux ( 2 ) , aux ( 2 ) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux ( 3) ) = 0,63075 p.u.
Pe 2 ( aux (1) , aux ( 2 ) , aux ( 2 ) ) = 0,00

Pe3 ( aux (1) , aux ( 2 ) , aux ( 2 ) ) = 0,17996 + 0,68179 cos 1,45997 ( aux (3) aux (1) ) = 0,42799 p.u.
L ( 2 ,1 ) =

.60
(Pm1 Pe1 ( aux(1) , aux (2) , aux( 2) ))h = .60 (0,71571 0,63075)(0,05) = 0,03387 rad / s
23,64
H1

L (2,2) =

.60
(Pm 2 Pe 2 ( aux(1) , aux( 2) , aux( 2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 2 , 3) =

.60
(Pm3 Pe3 ( aux(1) , aux( 2) , aux( 2) ))h = .60 (0,84956 0,42799)(0,05) =1,32000 rad / s
3,01
H3

Terceira etapa :
k=3
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 , 05) + L( 2,1) / 2 = 0,01787 + 0,03387 / 2 = 0,03480 rad / s

~
~

=
+ L(2,2) / 2 = 2,40011 + 2,40011/ 2 = 3,60016 rad / s
aux ( 2 )

2 ( 0, 05 )

~
~

aux ( 3) = 3( 0 , 05 ) + L( 2,3) / 2 = 1,43924 + 1,32000 / 2 = 2,09924 rad / s

aux (1) )h = (0,03480)(0,05) = 0,00174 rad
K (3,1) = (

aux ( 2) )h = (3,60016)(0,05) = 0,18000 rad

K (3, 2 ) = (

aux ( 3) )h = (2,09924)(0,05) = 0,10496 rad

K (3,3) = (
aux (1) = 1( 0, 05) + K (2,1) / 2 = 0,04078 rad
aux ( 2 ) = 2( 0, 05) + K (2,2) / 2 = 0,49439 rad
aux (3) = 3( 0, 05) + K (2,3) / 2 = 0,31938 rad

Pe1 ( aux (1) , aux ( 2 ) , aux ( 2) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,61925 p.u.
Pe 2 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,00

Pe 3 ( aux (1) , aux ( 2 ) , aux ( 2) ) = 0,17996 + 0,68179 cos 1,45997 ( aux (3) aux (1) ) = 0,43881p.u.
L ( 3 ,1) =

.60
(Pm1 Pe1 ( aux (1) , aux (2) , aux (2) ))h = .60 (0,71571 0,61925)(0,05) = 0,03846 rad / s
23,64
H1

L ( 3, 2 ) =

.60
(Pm 2 Pe 2 ( aux (1) , aux ( 2) , aux ( 2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 3, 3 ) =

.60
(Pm3 Pe3 ( aux (1) , aux (2) , aux ( 2) ))h = .60 (0,84956 0,43881)(0,05) = 1,28612 rad / s
3,01
H3

Quarta etapa :
k=4
i = 1, 2, ..........., n
~
~

aux (1) = 1( 0 , 05 ) + L(3,1) = 0,05633 rad / s

~
~

=
+ L(3,2) = 4,80022 rad / s
aux ( 2 )

2 ( 0 , 05)

~
~

aux ( 3) = 3( 0, 05 ) + L(3,3) = 2,72536 rad / s

aux (1) )h = (0,05633)(0,05) = 0,00282 rad

K ( 4,1) = (

aux ( 2) )h = (4,80022)(0,05) = 0,24001rad

K ( 4, 2) = (

aux (3) )h = (2,72536)(0,05) = 0,13627 rad

K ( 4,3) = (
aux (1) = 1( 0, 05) + K (3,1) = 0,04177 rad
aux ( 2) = 2( 0, 05) + K (3,2) = 0,58439 rad
aux ( 3) = 3( 0, 05) + K (3,3) = 0,37097 rad

Pe1 ( aux (1) , aux ( 2) , aux ( 2 ) ) = 0,73310 + 0,68179 cos 1,45997 ( aux (1) aux (3) ) = 0,58540p.u.
Pe 2 ( aux (1) , aux ( 2 ) , aux ( 2) ) = 0,00

Pe3 ( aux (1) , aux ( 2) , aux ( 2) ) = 0,17996 + 0,68179 cos 1,45997 ( aux (3) aux (1) ) = 0,47038 p.u.
L ( 4 ,1) =

.60
(Pm1 Pe1 ( aux (1) , aux ( 2) , aux ( 2) ))h = .60 (0,71571 0,58540)(0,05) = 0,05195 rad / s
H1
23,64

L ( 4, 2) =

.60
(Pm 2 Pe 2 ( aux (1) , aux (2) , aux (2) ))h = .60 (1,62982 0,00)(0,05) = 2,40011rad / s
H2
6,40

L ( 4, 3) =

.60
(Pm3 Pe3 ( aux (1) , aux (2) , aux (2) ))h = .60 (0,84956 0,47038)(0,05) = 1,18727 rad / s
3,01
H3

Nova posio i( +1 ) e i( +1)

1
K (1,1) + 2K ( 2,1) + 2K ( 3,1) + K ( 4,1)
6
1
1( 0,10 ) = 0,04003 + [0,00089 + 2(0,00150) + 2(0,00174) + 0,00282] = 0,04173 rad = 2,391o
6
1
(20,10 ) = (20,05) + K (1, 2 ) + 2K ( 2, 2 ) + 2K ( 3, 2 ) + K ( 4, 2)
6
1
(20,10 ) = 0,40439 + [0,12001 + 2(0,18001) + 2(0,18001)+,24001] = 0,58440 rad = 33,484 o
6
1
3( 0,10 ) = 3( 0,05) + K (1,3) + 2K ( 2,3) + 2K (3,3) + K ( 4,3)
6
1
3( 0,10 ) = 0,26601 + [0,07196 + 2(0,10674) + 2(0,10496) + 0,13627] = 0,37128 rad = 21,273o
6
~ ( 0,10 ) =
~ ( 0,05) + 1 L + 2L + 2L + L

1
1
(1,1)
( 2 ,1)
( 3,1)
( 4 ,1)
6
~ ( 0,10 ) = 0,01787 + 1 [0,02430 + 2(0,03387 ) + 2(0,03846) + 0,05195] = 0,05469 rad / s

1
6
~ ( 0,10 ) =
~ ( 0,05) + 1 L

2
2
(1, 2 ) + 2 L ( 2 , 2 ) + 2 L ( 3, 2 ) + L ( 4 , 2 )
6
~ ( 0,10 ) = 2,40011 + 1 [2,40011 + 2(2,40011) + 2(2,40011) + 2,40011] = 4,80022 rad / s

2
6
~ ( 0,10 ) =
~ ( 0,05) + 1 L + 2L

3
3
(1, 3 )
( 2 , 3 ) + 2L ( 3, 3 ) + L ( 4 , 3 )
6
~ ( 0,10 ) = 1,43924 + 1 [1,39114 + 2(1,32000) + 2(1,28612) + 1,18727] = 2,73768 rad / s

3
6

1( 0,10 ) = 1( 0,05) +